#ifndef MODEL_GENERAL_KINEMATICS_H
#define MODEL_GENERAL_KINEMATICS_H

#include "basic_data_structure.hpp"
namespace ZORAL
{
    HomoTrans Rodrigues(const Twist &twist, const double &joint_angle);

    std::vector<HomoTrans> InterpPose(const HomoTrans &start_point, const HomoTrans &end_point, const int &N, const double &t);

}
#endif